diff options
6 files changed, 117 insertions, 33 deletions
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index 045627700..a3c7df69d 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -113,6 +113,7 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, + const float speed_body[], struct vehicle_rates_setpoint_s *rates_sp) { static int counter = 0; @@ -148,13 +149,14 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att /* Pitch (P) */ /* compensate feedforward for loss of lift due to non-horizontal angle of wing */ - float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(att_sp->roll_body); + float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body)); /* set pitch plus feedforward roll compensation */ rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + pitch_sp_rollcompensation, att->pitch, 0, 0); /* Yaw (from coordinated turn constraint or lateral force) */ - //TODO + rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll)) + / (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[1] * sinf(att->pitch)); counter++; diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/apps/fixedwing_att_control/fixedwing_att_control_att.h index ca7c14b43..11c932800 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.h +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.h @@ -41,9 +41,11 @@ #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_global_position.h> int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, + const float speed_body[], struct vehicle_rates_setpoint_s *rates_sp); #endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */ diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 9dd34b9ec..ee259f78c 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -58,6 +58,7 @@ #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/vehicle_rates_setpoint.h> +#include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/debug_key_value.h> #include <systemlib/param/param.h> #include <systemlib/pid/pid.h> @@ -135,13 +136,14 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) memset(&att_sp, 0, sizeof(att_sp)); struct vehicle_rates_setpoint_s rates_sp; memset(&rates_sp, 0, sizeof(rates_sp)); + struct vehicle_global_position_s global_pos; + memset(&global_pos, 0, sizeof(global_pos)); struct manual_control_setpoint_s manual_sp; memset(&manual_sp, 0, sizeof(manual_sp)); struct vehicle_status_s vstatus; memset(&vstatus, 0, sizeof(vstatus)); - -// static struct debug_key_value_s debug_output; -// memset(&debug_output, 0, sizeof(debug_output)); + struct debug_key_value_s debug_output; + memset(&debug_output, 0, sizeof(debug_output)); /* output structs */ struct actuator_controls_s actuators; @@ -154,18 +156,19 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) } orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); -// orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output); -// debug_output.key[0] = '1'; - + orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output); + strncpy(debug_output.key, "yaw_rate", sizeof(debug_output.key - 1)); /* subscribe */ int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); + int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); /* Setup of loop */ float gyro[3] = {0.0f, 0.0f, 0.0f}; + float speed_body[3] = {0.0f, 0.0f, 0.0f}; struct pollfd fds = { .fd = att_sub, .events = POLLIN }; while(!thread_should_exit) @@ -173,9 +176,35 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) /* wait for a sensor update, check for exit condition every 500 ms */ poll(&fds, 1, 500); + /* Check if there is a new position measurement or attitude setpoint */ + bool pos_updated; + orb_check(global_pos_sub, &pos_updated); + bool att_sp_updated; + orb_check(att_sp_sub, &att_sp_updated); + /* get a local copy of attitude */ orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); - orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp); + if(att_sp_updated) + orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp); + if(pos_updated) + { + orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); + if(att.R_valid) + { + speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz; + speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz; + speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz; + } + else + { + speed_body[0] = 0; + speed_body[1] = 0; + speed_body[2] = 0; + + printf("FW ATT CONTROL: Did not get a valid R\n"); + } + } + orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp); orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus); @@ -184,10 +213,10 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) gyro[2] = att.yawspeed; /* Control */ - if (vstatus.state_machine == SYSTEM_STATE_AUTO) { + /* attitude control */ - fixedwing_att_control_attitude(&att_sp, &att, &rates_sp); + fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp); /* publish rate setpoint */ orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp); @@ -219,7 +248,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) att_sp.timestamp = hrt_absolute_time(); } - fixedwing_att_control_attitude(&att_sp, &att, &rates_sp); + fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp); /* publish rate setpoint */ orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp); @@ -242,6 +271,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) /* publish output */ orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + debug_output.value = rates_sp.yaw; + orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output); } printf("[fixedwing_att_control] exiting, stopping all motors.\n"); diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index f46761922..0bb54624f 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -170,11 +170,12 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* Roll Rate (PI) */ - actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT); + actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT); - - actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); - actuators->control[2] = 0.0f;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now + /* pitch rate (PI) */ + actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); + /* yaw rate (PI) */ + actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT); counter++; diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index d9acd8db9..45736aa2f 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -77,6 +77,8 @@ PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians struct fw_pos_control_params { float heading_p; + float headingr_p; + float headingr_i; float xtrack_p; float altitude_p; float roll_lim; @@ -85,6 +87,8 @@ struct fw_pos_control_params { struct fw_pos_control_param_handles { param_t heading_p; + param_t headingr_p; + param_t headingr_i; param_t xtrack_p; param_t altitude_p; param_t roll_lim; @@ -139,6 +143,8 @@ static int parameters_init(struct fw_pos_control_param_handles *h) { /* PID parameters */ h->heading_p = param_find("FW_HEADING_P"); + h->headingr_p = param_find("FW_HEADINGR_P"); + h->headingr_i = param_find("FW_HEADINGR_I"); h->xtrack_p = param_find("FW_XTRACK_P"); h->altitude_p = param_find("FW_ALT_P"); h->roll_lim = param_find("FW_ROLL_LIM"); @@ -151,6 +157,8 @@ static int parameters_init(struct fw_pos_control_param_handles *h) static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p) { param_get(h->heading_p, &(p->heading_p)); + param_get(h->headingr_p, &(p->headingr_p)); + param_get(h->headingr_i, &(p->headingr_i)); param_get(h->xtrack_p, &(p->xtrack_p)); param_get(h->altitude_p, &(p->altitude_p)); param_get(h->roll_lim, &(p->roll_lim)); @@ -221,12 +229,16 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) struct fw_pos_control_param_handles h; PID_t heading_controller; + PID_t heading_rate_controller; + PID_t offtrack_controller; PID_t altitude_controller; parameters_init(&h); parameters_update(&h, &p); - pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f,p.roll_lim,PID_MODE_DERIVATIV_NONE); - pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f,p.pitch_lim,PID_MODE_DERIVATIV_NONE); + pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit + pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE); + pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE); + pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f*M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value /* error and performance monitoring */ perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval"); @@ -252,8 +264,10 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* update parameters from storage */ parameters_update(&h, &p); - pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, p.roll_lim); + pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit + pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim); pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim); + pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f*M_DEG_TO_RAD); //TODO: remove hardcoded value } /* only run controller if attitude changed */ @@ -268,6 +282,11 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* load local copies */ orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + static uint64_t last_run = 0; + const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + last_run = hrt_absolute_time(); + + if (pos_updated) { orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); } @@ -282,27 +301,21 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) printf("psi_track: %0.4f\n", (double)psi_track); } - /* simple horizontal control, execute if line between wps is known */ + /* Simple Horizontal Control */ if(global_sp_updated_set_once) { // if (counter % 100 == 0) // printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); - + /* calculate crosstrack error */ // Only the case of a straight line track following handled so far - int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, + int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, (double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d, (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); if(!(distance_res != OK || xtrack_err.past_end)) { - float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards - - if(delta_psi_c > 60.0f*M_DEG_TO_RAD_F) - delta_psi_c = 60.0f*M_DEG_TO_RAD_F; - - if(delta_psi_c < -60.0f*M_DEG_TO_RAD_F) - delta_psi_c = -60.0f*M_DEG_TO_RAD_F; + float delta_psi_c = -pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards float psi_c = psi_track + delta_psi_c; @@ -312,7 +325,18 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) psi_e = _wrap_pi(psi_e); /* calculate roll setpoint, do this artificially around zero */ - attitude_setpoint.roll_body = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f); + //TODO: psi rate loop incomplete + float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f); + float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following + float psi_rate_c = delta_psi_rate_c + psi_rate_track; + + //TODO limit turn rate + + float psi_rate_e = psi_rate_c - att.yawspeed; + + float psi_rate_e_scaled = psi_rate_e * sqrtf(pow(global_pos.vx,2) + pow(global_pos.vy,2)) / 9.81f; //* V_gr / g + + attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT); // if (counter % 100 == 0) // printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c); @@ -322,10 +346,13 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end); } - // XXX SIMPLE ALTITUDE, BUT NO SPEED CONTROL - if (pos_updated) { + /* Very simple Altitude Control */ + if(pos_updated) + { + //TODO: take care of relative vs. ab. altitude attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f); + } // XXX need speed control diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index 6b4375445..e2f28dabd 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -296,6 +296,26 @@ handle_message(mavlink_message_t *msg) mavlink_hil_state_t hil_state; mavlink_msg_hil_state_decode(msg, &hil_state); + /* Calculate Rotation Matrix */ + //TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode + + if(mavlink_system.type == MAV_TYPE_FIXED_WING) { + //TODO: asuming low pitch and roll for now + hil_attitude.R[0][0] = cosf(hil_state.yaw); + hil_attitude.R[0][1] = sinf(hil_state.yaw); + hil_attitude.R[0][2] = 0.0f; + + hil_attitude.R[1][0] = -sinf(hil_state.yaw); + hil_attitude.R[1][1] = cosf(hil_state.yaw); + hil_attitude.R[1][2] = 0.0f; + + hil_attitude.R[2][0] = 0.0f; + hil_attitude.R[2][1] = 0.0f; + hil_attitude.R[2][2] = 1.0f; + + hil_attitude.R_valid = true; + } + hil_global_pos.lat = hil_state.lat; hil_global_pos.lon = hil_state.lon; hil_global_pos.alt = hil_state.alt / 1000.0f; @@ -303,6 +323,7 @@ handle_message(mavlink_message_t *msg) hil_global_pos.vy = hil_state.vy / 100.0f; hil_global_pos.vz = hil_state.vz / 100.0f; + /* set timestamp and notify processes (broadcast) */ hil_global_pos.timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos); @@ -427,4 +448,4 @@ receive_start(int uart) pthread_t thread; pthread_create(&thread, &receiveloop_attr, receive_thread, &uart); return thread; -}
\ No newline at end of file +} |